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<div class="title">plc_main_logic.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef PLC_MAIN_LOGIC_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define PLC_MAIN_LOGIC_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;windows.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;../WarningDll/include/WarningDll.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;../ShareMemoryDll/include/GtRobotDefine.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;../ShareMemoryDll/include/ShareMemoryParaDef.h&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;../ShareMemoryDll/include/sharememorydll.h&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;../ShareMemoryDll/include/UserParamDef.h&quot;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;plc_external_io_define.h&quot;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;../global/plc_standard_class.h&quot;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;../global/plc_struct_define.h&quot;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;QString&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">/* Define NULL pointer value */</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#ifndef NULL</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define NULL    0</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define NULL    ((void *)0)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">using namespace </span>plc;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">using namespace </span>ShareMemory;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#if WINCE</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#pragma comment(lib,&quot;../WarningDll/wince/WarningDll.lib&quot;)</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#pragma comment(lib,&quot;../ShareMemoryDll/wince/ShareMemoryDll.lib&quot;)</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#pragma comment(lib,&quot;../ShareMemoryDll/win32/ShareMemoryDll.lib&quot;)</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#pragma comment(lib,&quot;../WarningDll/win32/WarningDllX86.lib&quot;)</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="class_c_plc_main_logic.html">   51</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_c_plc_main_logic.html">CPlcMainLogic</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">/************************************************************************/</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">/* 公共函数                                                      */</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">/************************************************************************/</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">static</span> <a class="code" href="class_c_plc_main_logic.html">CPlcMainLogic</a> *getInstance();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">void</span> deleteInstance();</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">//周期运行逻辑函数</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">void</span> LoopRun();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">//同步DO到Y变量</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">void</span> initIO();  </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">//添加外部命令</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">void</span> addCommandList(CommandDetail *cmd);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">//设置当前组号</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">int</span> setCurrentGroupNum(<span class="keywordtype">int</span> group=0);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">//读取当前组号</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">int</span> getCurrentGroupNum();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">//获取机器人操作模式 1试教、2回放、3远程</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">int</span> getRobotTeachMode(<span class="keywordtype">int</span> group = 0);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">//获取试教模式下，机器人NC状态 0空闲、1前进检查、2后退检查、3运动到点、4JOG运动</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">int</span> getRobotTeachNcStatus(<span class="keywordtype">int</span> group = 0);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">//获取回放模式下，机器人NC状态 0空闲、1运行、2暂停</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">int</span> getRobotReplayNcStatus(<span class="keywordtype">int</span> group = 0);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">//获取机器人伺服状态 0伺服关、1伺服开</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">bool</span> getRobotServoStatus(<span class="keywordtype">int</span> group = 0);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">//获取机器人报警状态 0正常、1有报警</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">bool</span> getRobotAlarmStatus();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">//获取机器人试教急停状态 0异常、1正常</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">bool</span> getRobotHmiEstop();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">//获取机器人外部急停状态 0异常、1正常</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">bool</span> getRobotExternalEstop();</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">//获取机器人急停状态 0异常、1正常</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">bool</span> getRobotEstop();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="comment">//获取机器人碰撞检测状态 0异常、1正常</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">bool</span> getRobotCrashCheckStatus();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">//获取机器人碰撞检测状态 0异常、1正常</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">bool</span> getRobotSafeDoorStatus();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">//获取机器人示教器三段开关 0异常、1正常</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordtype">bool</span> getRobotHmiServoSwitch();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">/************************************************************************/</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">/* 私有函数                                                      */</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">/************************************************************************/</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> updateData();                                      <span class="comment">//获取IO变量</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">void</span> downloadData();                                    <span class="comment">//写入IO变量</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">void</span> operateSevro(<span class="keywordtype">int</span> group = 0);                       <span class="comment">//伺服使能操作</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">void</span> operateWorkMode(<span class="keywordtype">int</span> group = 0);                    <span class="comment">//工作模式操作</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">void</span> clearStatus(<span class="keywordtype">int</span> group = 0);                        <span class="comment">//状态清除</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordtype">void</span> operateTeachFile(<span class="keywordtype">int</span> group = 0);                   <span class="comment">//试教文件启停操作</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">void</span> operateMotion(<span class="keywordtype">int</span> group = 0);                                  <span class="comment">//试教模式下JOG运动操作</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">void</span> selectTeachFile(<span class="keywordtype">int</span> group = 0);                                    <span class="comment">//远程选择试教程序逻辑处理</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">void</span> offLineCheck();                                    <span class="comment">//关机前的系统操作</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">void</span> operateCommandList();                              <span class="comment">//开始执行指令流内部命令</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    PlcInterface            *p_plc_data_;                   <span class="comment">//共享内存PLC接口数据</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    PublicVariable          *p_variable_data_;              <span class="comment">//共享内存全局变量接口数据</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    HmiParam                *p_hmi_data_[GRT_MAX_GROUP_NUM];<span class="comment">//共享内存HMI数据</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    MotionOutput            *p_motion_data_;                <span class="comment">//共享内存运动输出数据</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    SystemConfig            *p_system_config_;              <span class="comment">//共享内存系统配置参数</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    ExternalIoConfig        *p_eio_config_;                 <span class="comment">//外部IO配置结构体指针</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    GVariable               gv;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    FVariable               fv;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    XVariable               xv;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    YVariable               yv;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    EVariable               ev;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    ExternalDI              edi;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    ExternalDO              edo;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">    /************************************************************************/</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">/* 内部数据                                                             */</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">    /************************************************************************/</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">bool</span> double_group_control;  <span class="comment">//双组同时控制</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">int</span> iGroupNum;              <span class="comment">//当前组号</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">//临时测试三段开关上升沿</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">//DWORD last_time;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    R_TRIG rthree;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    F_TRIG fthree;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    TON ton_print;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    QString out_message;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">long</span> last_time;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">bool</span> is_remote_control;     <span class="comment">//远程托管控制</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    TOF tof_remote_control;     <span class="comment">//远程托管控制有效延时</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> remote_control[4];   <span class="comment">//控制字</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">bool</span> bPulse;            <span class="comment">//伺服准备闪烁信号</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    TON ton_pulse;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    TON ton_reset[GRT_MAX_GROUP_NUM];           <span class="comment">//复位定时器</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">bool</span> b_servo_ready;     <span class="comment">//伺服准备状态</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    R_TRIG RTrigServoReady; <span class="comment">//伺服准备上升沿</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">//workMode</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordtype">int</span> iWorkMode[GRT_MAX_GROUP_NUM];           <span class="comment">//当前模式，123分别为：试教、回放、远程</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">//clear</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    R_TRIG RTrigButtonClear[GRT_MAX_GROUP_NUM],RTrigInternalClear[GRT_MAX_GROUP_NUM],RTrigExClear[GRT_MAX_GROUP_NUM];   <span class="comment">//故障复位</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    R_TRIG RTrigJogF[8],RTrigJogR[8];           <span class="comment">//Jog命令上升沿、下降沿</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    R_TRIG RTrigHoming;         <span class="comment">//上档+9回零处理</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    F_TRIG FTrigHoming;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">bool</span> is_homing;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">short</span> last_moveToPointId;   <span class="comment">//前进到点编号的备份</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    TON ton_three_switch;       <span class="comment">//试教器三段开关延时处理</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    TOF tof_three_switch;       </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    R_TRIG RTrigExStart[GRT_MAX_GROUP_NUM],RTrigExStop[GRT_MAX_GROUP_NUM],RTrigExServoEnb[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    F_TRIG FTrigExServoEnb[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordtype">bool</span> isErrModeSwitch[GRT_MAX_GROUP_NUM];            <span class="comment">//非正常的操作模式切换</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    F_TRIG FTrigHmiEstop,FTrigInEstop,FTrigExEstop,FTrigCrashCheck,FTrigSafeDoor,FTrigErrModeSwitch;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    R_TRIG RTrigSelectEnb[GRT_MAX_GROUP_NUM],RTrigSelectFinsh[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    F_TRIG FTrigTeachRun[GRT_MAX_GROUP_NUM];                <span class="comment">//运行状态的下降沿，用于同步试教程序的启动行</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    TOF tof_coordsys[GRT_MAX_GROUP_NUM];                    <span class="comment">//坐标系设定命令，延时关断定时器</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    vector&lt;CommandDetail&gt; command_list;             <span class="comment">//外部指令流</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment"></span>    vector&lt;CommandDetail&gt; command_io_delay;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    vector&lt;TOF&gt; tof_io_delay;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">//运动到点当前坐标系（陈龙）</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordtype">short</span> _move_to_point_pre_coord[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    R_TRIG _rtrig_move_to_point_forword[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    F_TRIG _ftrig_move_to_point_forword[GRT_MAX_GROUP_NUM];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="comment">//前进检查</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    R_TRIG rtrig_forword_check_step,rtrig_forword_check_continue;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> current_execute_line_old;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">bool</span> b_coordsys_initial[GRT_MAX_GROUP_NUM];         <span class="comment">//坐标系初始化使能 2020-09-18 zhang.zb</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//回放模式下，运行的上升沿和下降沿 2020-09-18 zhang.zb</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    R_TRIG rtrig_replay_run;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    F_TRIG ftrig_replay_run;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">//取位变量</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordtype">bool</span> GetDatabit(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> data = 0,<span class="keywordtype">int</span> bit_num = 0);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="comment">//设置位变量</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordtype">void</span> SetDatabit(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> *data = NULL,<span class="keywordtype">int</span> bit_num = 0,<span class="keywordtype">bool</span> set_value=0);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">//通过X变量配置获取外部IO</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordtype">void</span> GetXConfigToVerable(<span class="keywordtype">int</span> config_num_=0,<span class="keywordtype">bool</span> *bit_=NULL ,<span class="keywordtype">bool</span> initial_value=0);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">//通过Y变量配置设置外部IO</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordtype">void</span> SetVerableToYConfig(<span class="keywordtype">int</span> config_num_=0,<span class="keywordtype">bool</span> value_=<span class="keyword">false</span>);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    vector&lt;string&gt; split(<span class="keyword">const</span> <span class="keywordtype">string</span>&amp; str, <span class="keyword">const</span> <span class="keywordtype">string</span>&amp; pattern);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">//获取试教程序程序号</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> GetSelectProgramNum(<span class="keywordtype">int</span> group=0);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="comment">//设置试教程序程序号</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">void</span> SetSelectProgramNum(<span class="keywordtype">int</span> group=0,<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> num_=0);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="comment">//检查三段开关（临时测试）</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordtype">void</span> CheckThreeSwitch();</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">static</span> std::string control_version;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">static</span> <a class="code" href="class_c_plc_main_logic.html">CPlcMainLogic</a> *only_instance;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <a class="code" href="class_c_plc_main_logic.html">CPlcMainLogic</a>();</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">//析构函数</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    ~<a class="code" href="class_c_plc_main_logic.html">CPlcMainLogic</a>();</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;};</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#endif</span></div>
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<div class="ttc" id="aclass_c_plc_main_logic_html"><div class="ttname"><a href="class_c_plc_main_logic.html">CPlcMainLogic</a></div><div class="ttdef"><b>Definition:</b> plc_main_logic.h:51</div></div>
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